Hi Asier, Thanks for sharing the images. We managed to reproduce the same issue using your dataset. The pose of the cameras after AT is far away from their initial position. We believe the issue comes from the GPS tags of the images. They were, in some way, interchanged or maybe they are just wrong. Because of this the Block-AT is not “correctly” positioned after AT. The AT is computed independently and adjusted on wrong GPS tags, these GPS tags must be corrected before being used.
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